Abstract
In the process of vehicle anti-rollover, the driver’s behavioral characteristics have a great influence on the vehicle rollover stability. However, the existing researches on anti-rollover rarely consider the driver in the human-vehicle-road closed loop system, which may directly affects the rollover dynamics characteristics of the vehicle. Aiming at this problem, this work analyzes the influence of different driver parameters on vehicle dynamics and establishes a driver model considering the vehicle rollover stability. Based on this, a collaborative control strategy of vehicle anti-rollover considering the driver’s characteristics is designed to assist the driving stability requirements of different types of drivers. It includes the upper layer of supervision decision control and the lower layer of cooperative execution control. The supervisory decision control layer sets different rollover constraint boundaries for different types of drivers, and makes six control decision modes combining driver input and vehicle path tracking error. Aiming at different types of drivers, the lower cooperative execution control layer constrains the front wheel angle by the active steering system to reduce yaw rate and the risk of rollover. Moreover, it reasonably distributes the braking force of four tires by the active braking system to reduce the path tracking error while preventing rollover. The simulation results show that, the proposed cooperative control strategy can provide different control effects for different drivers, and ensure the effective anti-rollover control of the vehicle and achieve good path tracking performance.
Highlights
With the increase of vehicle ownership, the safety accidents are increasing
This article aims to assist different types of drivers to achieve driving stability requirements, and designs anti-rollover control strategy based on active steering and active braking to ensure that different types of drivers track the ideal path and prevent vehicle rollover at the same time
The influence of different driver parameters on the dynamic behavior of the vehicle is analyzed through the hardware-in-the-loop test platform, the test data of different drivers steering control under the double-shift condition is collected, and the drivers with different steering styles are classified by K-means clustering algorithm; a driver model considering the stability of vehicle rollover is established
Summary
With the increase of vehicle ownership, the safety accidents are increasing. Rollover accident has a low occupancy rate but a high fatality rate. According to the statistics of the U.S highway traffic safety administration, from 2012 to 2017, there are more than 2.1 million traffic accidents in the United States. In 2017, more than 30000 people lost their lives in the accidents, and the fatality rate of rollover accident accounted for 11% [1]. Rollover accident is the second largest traffic accident after collision accident. It indicates that once a rollover accident occurs, it will cause great harm, resulting in serious loss of life and property. It is necessary to study the safety performance of rollover
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